Method and computer equipment for judging whether unmanned aerial vehicle enters flight-restricted zone or no-fly zone

Abstract

The invention discloses a method for judging whether an unmanned aerial vehicle enters a flight limiting area or a no-fly area and computer equipment. The method comprises the following steps: S1, querying the flight limiting area or the no-fly area delimited by a target area on a map according to an airspace management rule; s2, respectively acquiring geohash codes, unmanned aerial vehicle model codes and unmanned aerial vehicle height codes in the whole range and boundary points of each region, synchronously generating corresponding flight limiting codes and flight forbidding codes, and storing the flight limiting codes and the flight forbidding codes in a warehouse; s3, acquiring the longitude, latitude and height codes of the real-time position of the unmanned aerial vehicle and the type code of the unmanned aerial vehicle, and generating a to-be-compared flight limiting code and a to-be-compared flight forbidding code; and S4, comparing the to-be-compared flight limiting code with the flight limiting code, comparing the to-be-compared flight forbidding code with the flight forbidding code, and judging whether the unmanned aerial vehicle enters the flight limiting area or the flight forbidding area at present. According to the method, complex algorithm calculation is preposed, high efficiency and rapidness of real-time calculation are guaranteed, the phenomenon of identification delay is avoided, and the risk of potential safety hazards in a low-altitude airspace is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and computer equipment for judging whether a unmanned aerial vehicle enters a restricted flying zone or a prohibited flying zone. Background Art

[0002] A drone restricted flight zone or prohibited flight zone refers to a ground range + altitude range where flight is restricted or prohibited. Different altitude ranges within the same ground range may have different flight attributes. A restricted flight zone is where specific drones can fly, but other types of drones cannot. A prohibited flight zone is where all drones are prohibited from flying.

[0003] The existing algorithm for determining whether a drone's real-time location has entered a restricted or no-fly zone is as follows: after receiving the drone's real-time location data (each drone in flight reports one item per second), it traverses each restricted or no-fly zone, and first determines whether the current longitude and latitude are on the boundary point of the entire area. If they are on the boundary, it is considered to have entered a restricted or no-fly zone. If they are not on the boundary point, it is necessary to proceed to the next step and use the ray method for judgment. With the development of the low-altitude economy, the number of drones in the region has increased dramatically. For example, if there are 1,000 restricted and no-fly zones in an administrative city, and there are 10,000 drones flying in real time, then it is necessary to calculate 1,000*10,000 per second to determine whether a drone has entered a restricted or no-fly zone. Obviously, the current algorithm has a complex calculation process, is time-consuming, and has a delay in identifying drones that have entered a restricted or no-fly zone, which poses a major safety hazard to the safety of the airspace. Summary of the invention

[0004] The present invention provides a method and computer device for determining whether a UAV has entered a restricted-fly zone or a prohibited-fly zone with more efficient and rapid calculation, which can solve at least one of the above-mentioned technical problems.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A method for determining whether a drone enters a restricted flying zone or a prohibited flying zone comprises the following steps:

[0007] S1. Query the restricted or prohibited flying areas of the target area on the map according to the airspace management rules;

[0008] S2. For the restricted-fly area and the no-fly area in the target area, the geohash code of each area and its boundary points, the drone model code and the drone altitude code are obtained respectively, and the corresponding restricted-fly code and no-fly code are generated synchronously and stored in the database;

[0009] S3, obtaining the latitude and longitude and altitude code of the real-time location of the drone and the model code of the drone, and generating a restricted-fly code and a prohibited-fly code to be compared;

[0010] S4. Compare the restricted flight code to be compared with the restricted flight code, the prohibited flight code to be compared with the prohibited flight code. If the restricted flight code in the library contains the real-time restricted flight code to be compared, or the prohibited flight code in the library contains the real-time prohibited flight code to be compared, the UAV has currently entered the restricted flight area or the prohibited flight area, triggering a safety warning. Otherwise, if it does not exist, the UAV has not currently entered the restricted flight area or the prohibited flight area.

[0011] Furthermore, in said S1, the restricted-fly area or the no-fly area on the map is independently demarcated by the airspace management party according to the demarcation standards and is made public.

[0012] Furthermore, the S2 further comprises:

[0013] S21, generating a no-fly code, comprising the following steps:

[0014] S211, determining the no-fly zone defined in the target area on the system map interface;

[0015] S212, obtaining the longitude and latitude values ​​of the boundary points of the no-fly zone, and converting the longitude and latitude values ​​of the boundary points into geohash codes, and obtaining the same prefix for all geohash codes;

[0016] S213, starting to expand based on the same prefix string to obtain 32 strings of the next level geohash grid code;

[0017] S214, parsing the expanded character string to obtain the longitude and latitude values ​​of four points in the grid to form a small area;

[0018] S215, determining the geometric relationship between the small area and the no-fly zone to obtain a geometric relationship between the area inside, the area outside, or the area intersecting;

[0019] S216, if the geometric relationship is within the area, then according to the current string length, the geohash code is automatically expanded to X bits by level, incorporated into the no-fly code determined library, and the corresponding geohash code is stored;

[0020] S217, if the geometric relationship is outside the region, there is no need to perform further processing on the current string, and there is no need to store the current string;

[0021] S217, if the geometric relationship is area intersection, determine whether the current string length is X bits, if so, enter the no-fly code determination library and store the corresponding geohash code, if not, repeat S213 until the current string length reaches X bits.

[0022] Furthermore, in S2 or S212, the calibration of the area boundary points is that after S1, the airspace management party shall make the restricted flight area or the no-fly area public and mark multiple boundary points on the map interface.

[0023] Furthermore, in S212, the rule for obtaining the common prefix is ​​to take the same prefix of the geohash codes corresponding to all boundary points, and the common part represents a spatial grid.

[0024] Furthermore, in S2 or S216, the library refers to a system relational database and a cache database, which is used to specifically store geohash codes corresponding to restricted flight areas or no-fly areas.

[0025] Furthermore, the S2 further includes:

[0026] S22, generation of a flight restriction code, includes S21, and further includes the following steps:

[0027] S221, obtain a 1-digit model code;

[0028] S222, obtaining a 2-digit height code;

[0029] S223, restricted flight code = X-digit geohash code + 1-digit aircraft model code + 2-digit altitude code.

[0030] Furthermore, in S3, the real-time position of the drone can be determined by a positioning signal on the drone.

[0031] Furthermore, in S4, the management system triggers a safety warning and notifies the airspace management party and the drone operator. If the drone operator fails to perform evasive operations on the drone within the specified time requirement, the airspace management party will take countermeasures against the drone.

[0032] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above-mentioned method for determining whether a drone enters a restricted flight zone or a prohibited flight zone.

[0033] The beneficial effects of the present invention are embodied in:

[0034] The present invention proposes a method for judging whether a drone enters a restricted flight zone or a no-fly zone for drone flight management in low-altitude airspace. According to the restricted flight zone or the no-fly zone publicly demarcated by the airspace management party on the map interface, corresponding restricted flight codes and no-fly codes are synchronously generated based on the geohash code and stored in the library. The management system converts the received real-time location information of the drone into a restricted flight code to be compared and a no-fly code to be compared. By quickly comparing the restricted flight code / no-fly code to be compared with the restricted flight code / no-fly code already in the library, it can be quickly judged whether the drone currently enters the restricted flight zone or the no-fly zone. In this way, the complex algorithm calculation is pre-placed, which ensures the high efficiency and rapidity of real-time calculation, avoids the phenomenon of recognition delay, and reduces the risk of safety hazards in low-altitude airspace. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0036] Figure 1 The figure is a schematic diagram of the overall flow of a method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone according to an embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of using the traditional ray method according to an embodiment of the present invention.

[0038] Figure 3 The figure is a schematic block diagram of a no-fly code generation process according to an embodiment of the present invention.

[0039] Figure 4 It is a schematic diagram of the no-fly zone division of the Zijingang Campus of Zhejiang University according to an embodiment of the present invention.

[0040] Figure 5 The diagram is a schematic diagram of selecting a common prefix of geohash codes of boundary points in the no-fly zone of the Zijingang Campus of Zhejiang University according to an embodiment of the present invention.

[0041] Figure 6 It is a schematic diagram of an embodiment of the present invention in which the geohash code of the boundary point of the no-fly zone of the Zijingang Campus of Zhejiang University is expanded to 6 bits.

[0042] Figure 7 It is a schematic diagram of an embodiment of the present invention in which the geohash code of the boundary point of the no-fly zone of the Zijingang Campus of Zhejiang University is expanded to 7 bits.

[0043] Figure 8 It is a schematic diagram of judging whether UAV A and UAV B enter the no-fly zone of Zijingang Campus of Zhejiang University according to an embodiment of the present invention.

[0044] Fig. 9It is a structural block diagram of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that the meaning of "and / or" appearing in the full text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, "multiple" means more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] See also Figure 1 The embodiment of the present invention provides a method for determining whether a drone enters a restricted flying zone or a prohibited flying zone, comprising the following steps:

[0048] S1. Query the restricted or prohibited flying areas of the target area on the map according to the airspace management rules;

[0049] S2. For the restricted-fly area and the no-fly area in the target area, the geohash code of each area and its boundary points, the drone model code and the drone altitude code are obtained respectively, and the corresponding restricted-fly code and no-fly code are generated synchronously and stored in the database;

[0050] S3, obtaining the latitude and longitude and altitude code of the real-time location of the drone and the model code of the drone, and generating a restricted-fly code and a prohibited-fly code to be compared;

[0051] S4. Compare the restricted flight code to be compared with the restricted flight code, the prohibited flight code to be compared with the prohibited flight code. If the restricted flight code in the library contains the real-time restricted flight code to be compared, or the prohibited flight code in the library contains the real-time prohibited flight code to be compared, the UAV has currently entered the restricted flight area or the prohibited flight area, triggering a safety warning. Otherwise, if it does not exist, the UAV has not currently entered the restricted flight area or the prohibited flight area.

[0052] See also Figure 2The traditional ray method is to make a ray starting from the point. If the number of times it crosses the boundary of the area is an even number, the point is outside the area. If it is an odd number, the point is inside the area. However, when a large number of drones or drone groups are flying in the area, the calculation process of the algorithm is complex and time-consuming, and there is a defect of recognition delay, which will pose a great safety hazard to the safety of the airspace.

[0053] In this embodiment, in S1, the restricted flight area or the no-fly area on the map is independently demarcated by the airspace management party according to the demarcation standards and is made public.

[0054] The airspace management party has the authority to demarcate airspace, and the specific demarcation standards are determined by it. Generally, the demarcation is assessed and demarcated based on geography, ground social attributes, meteorology, special intelligence, etc., and can be temporary or long-term.

[0055] A restricted-fly zone can include one or more locations where unauthorized drones cannot fly. A no-fly zone can include one or more locations where all drones cannot fly.

[0056] See also Figure 3 In this embodiment, S2 further includes:

[0057] S21, generating a no-fly code, comprising the following steps:

[0058] S211, determining the no-fly zone defined in the target area on the system map interface;

[0059] S212, obtaining the longitude and latitude values ​​of the boundary points of the no-fly zone, and converting the longitude and latitude values ​​of the boundary points into geohash codes, and obtaining the same prefix for all geohash codes;

[0060] S213, starting to expand based on the same prefix string to obtain 32 strings of the next level geohash grid code;

[0061] S214, parsing the expanded character string to obtain the longitude and latitude values ​​of four points in the grid to form a small area;

[0062] S215, determining the geometric relationship between the small area and the no-fly zone to obtain a geometric relationship between the area inside, the area outside, or the area intersecting;

[0063] S216, if the geometric relationship is within the area, then according to the current string length, the geohash code is automatically expanded to X bits by level, incorporated into the no-fly code determined library, and the corresponding geohash code is stored;

[0064] S217, if the geometric relationship is outside the region, there is no need to perform further processing on the current string, and there is no need to store the current string;

[0065] S217, if the geometric relationship is area intersection, determine whether the current string length is X bits, if so, enter the no-fly code determination library and store the corresponding geohash code, if not, repeat S213 until the current string length reaches X bits.

[0066] Geohash code is a geographic coding system that can encode the longitude and latitude coordinates on the earth into a string. As an efficient multi-dimensional spatial point indexing algorithm that has been maturely used in the existing technology, geohash code is widely used in technologies such as nearby address search. The geohash encoding process is similar to dividing the surface of the earth into grids, and each grid has its own unique "ID number". The longer the geohash code string, the smaller the area represented and the higher the location accuracy. Conversely, the shorter the geohash code string, the larger the area represented and the lower the location accuracy. For example, -wx4g0ec may represent a city, further, -wx4g0ec19 may be accurate to a street, and further, -wx4g0ec19df may be accurate to a building.

[0067] In this application, the geohash code uses X bits as the judging criteria. Generally speaking, it will be set to 8 bits in a specific embodiment, and it can also be 9 bits or 10 bits. At present, there is no clear setting regulation in the relevant industry. The length of the 8-bit geohash grid is 19 meters, which is theoretically a reasonable range of recognition accuracy, so 8 bits are generally selected. If further precise refinement is required, it can be set to 9 bits or more, so it is not specifically limited in this application.

[0068] See also Figure 4-Figure 8 This application takes the Zijingang Campus of Zhejiang University as an example of a no-fly zone. The longitude and latitude of the no-fly zone boundary are as follows:

[0069] 120.064789906466, 30.3074832747807

[0070] 120.076971630484, 30.3125063766717

[0071] 120.078306145194, 30.3123881889693

[0072] 120.083130929144, 30.3130382195689

[0073] 120.0833362391, 30.3117381540581

[0074] 120.086552761734, 30.3116790597615

[0075] 120.087647748162, 30.308044692039

[0076] 120.08757931151, 30.3021348633188

[0077] 120.087853058118, 30.2971998834013

[0078] 120.078237708542, 30.2973180894164

[0079] 120.073412924591, 30.2976727066068

[0080] 120.070196401957, 30.2981159762915

[0081] 120.067287844256, 30.2993571207481

[0082] 120.065405836332, 30.2992093662795

[0083] 120.064789906466, 30.3074832747807

[0084] First, obtain the geohash code corresponding to the longitude and latitude of each boundary point of the no-fly zone. The length of the geohash code is selected to be 8 bits, which are:

[0085] wtmkkjk9, wtmkkqjr, ​​wtmkkqnq, wtmkkw3f, wtmkkw44, wtmkkwh6, wtmkktmj, wtmk ksm4, wtmkkemm, wtmkk7qq, wtmkk7db, wtmkk787, wtmkk5y6, wtmkk5uc, wtmkkjk9

[0086] From this, we can determine that the current no-fly zone must be within the geohash grid wtmkk.

[0087] Secondly, start expanding with wtmkk, and determine the next geohash code in turn (the characters constituting the geohash code are: "0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "b", "c", "d", "e", "f", "g", "h", "j", "k", "m", "n", "p", "q", "r", "s", "t", "u", "v", "w", "x", "y", "z"), the geohash codes after expansion are: wtmkk1, wtmkk2, wtmkk3......wtmkky, wtmkkz.

[0088] The longitude and latitude of the four vertices corresponding to the expanded geohash code are obtained, and the small area formed by these four longitude and latitude is geometrically judged with the entire no-fly zone to obtain the following geometric relationship: inside the area, outside the area, and the area intersects.

[0089] Figure 5 The following is the corresponding relationship between the next level grid of wtmkk and the current area:

[0090] Geohash code wtmkkk, if the entire grid is within the area, it will be stored in the database, the storage type is determined, and the length type is 6;

[0091] The geohash codes wtmkk5, wtmkk7, wtmkke, wtmkks, wtmkkt, wtmkkw, wtmkkq, wtmkkm...wtmkkj wtmkkh intersect with the area.

[0092] For the intersecting geohash codes, continue to expand to determine the next level, such as wtmkk5, and get Figure 6 As shown:

[0093] Geohash code wtmkk5z, the entire grid is within the area, stored in the database, the storage type is determined, and the length type is 7;

[0094] If the geohash codes wtmkk5y, wtmkk5v, wtmkk5t, wtmkk5w, and wtmkk5x intersect with the area, it is necessary to continue to expand the judgment.

[0095] When the current geohash code length reaches 8 bits, the process stops and all the geohash grids that contain and intersect with each other are set as determined, with a length type of 8. Figure 7 As shown, they are:

[0096] wtmkk5xp, wtmkk5xr, wtmkk5xx, wtmkk5xz, wtmkk5xn, wtmkk5xq, wtmkk5x2, wtmkk5xy, wtmkk5xj, wtmkk5xm, wtmkk5xt, wtmkk5xv, wtmkk5xh, wtmkk5xk, wtmkk5xs, wtmkk5xu, wtmkk5x7, wtmkk5xe, wtmkk5xg are put into storage, and the type is determined.

[0097] Finally, determine whether the drone has entered a no-fly zone.

[0098] like Figure 8 As shown in the figure, the longitude and latitude of the location of drone A is: 120.06872693084786, 30.297723213201664; the longitude and latitude of drone B is: 120.06915843666553, 30.29872901134992. Using the longitude and latitude to geohash code algorithm tool, the corresponding 8-bit no-fly codes to be compared can be quickly obtained as wtmkk5x3 and wtmkk5xv.

[0099] Among them, the longitude and latitude to geohash code algorithm tool can use the Geohash algorithm that has been maturely used in the existing technology. It is a geocoding system (geocode system) invented by Gustavo Niemeyer in 2008. It encodes the two-dimensional geographic coordinates of longitude and latitude into a string composed of numbers and letters. The calculation method has been made public. At present, calculations are performed based on public theoretical processes, such as the calculation method provided by the following website, https: / / github.com / kungfoo / geohash-java.

[0100] The drone's 8-bit geohash code is compared one by one with the determined no-fly code in the library. If it exists, it is determined that the drone has entered the no-fly zone and a safety warning is generated. If it does not exist, it is determined that the drone has not entered the no-fly zone.

[0101] See also Figure 4 In this embodiment, in S2 or S212, the marking of the regional boundary points is that after S1, the airspace management party shall make the restricted flight area or the no-fly area public and mark multiple boundary points on the map interface. For example, the boundary points displayed on the map interface of Zhejiang University in the above embodiment.

[0102] See also Figure 5-Figure 8In this embodiment, in S212, the rule for obtaining the common prefix is ​​to take the same prefix of the geohash codes corresponding to all boundary points, and the common part represents a spatial grid.

[0103] For example, taking Zhejiang University in the above embodiment as an example, the geohash codes corresponding to the boundary points of the current no-fly zone or restricted flight zone are wtmkkjk9, wtmkkqjr, ​​wtmkkqnq, wtmkkw3f, wtmkkw44, wtmkkwh6, wtmkktmj, wtmkksm4, wtmkkemm, wtmkk7qq, wtmkk7db, wtmkk787, wtmkk5y6, wtmkk5uc and wtmkkjk9, then it can be obtained that the current no-fly zone or restricted flight zone must be in the geohash grid wtmkk, and wtmkk is taken as the common prefix of the geohash codes of all boundary points.

[0104] See also Figure 5-Figure 8 In this embodiment, in S2 or S216, the library refers to a system relational database and a cache database, which is used to specifically store geohash codes corresponding to restricted flight areas or no-fly areas.

[0105] In this embodiment, the S2 further includes:

[0106] S22, generation of a flight restriction code, includes S21, and further includes the following steps:

[0107] S221, obtain a 1-digit model code;

[0108] S222, obtaining a 2-digit height code;

[0109] S223, restricted flight code = X-digit geohash code + 1-digit aircraft model code + 2-digit altitude code.

[0110] In this application, when judging whether to enter the restricted flight area, it is also necessary to add altitude data. The minimum altitude of the restricted flight area ≤ the flight altitude value of the drone ≤ the maximum altitude of the restricted flight area. At the same time, the drone model type needs to be compared with the restricted model.

[0111] The model code of the drone is generally set as shown in Table 1 according to management requirements:

[0112] model coding Public safety type use a Evtol b General small multi-rotor c General medium multi-rotor d General large multi-rotor e

[0113] The flight altitude range of the drone is 120 meters to 300 meters. The altitude is divided into levels every 10 meters. The altitude value is rounded to the integer of %10 to obtain the level code. The altitude code of the drone is set as shown in Table 2:

[0114] Height range coding [120,130) 12 [130,140) 13 [140,150) 14 ........ [290,300) 29

[0115] For example, the known restricted flight code is wtmkk5xve12, where wtmkk5xv represents the corresponding airspace grid, e represents a general large multi-rotor drone, and 12 represents restricted flight at altitudes between 120 meters and 130 meters.

[0116] Based on an actual case, the judgment on whether the drone has entered the restricted flight area is as follows:

[0117] If the general large multi-rotor drone A is located at:

[0118] 120.06915843666553, 30.29872901134992, 125

[0119] If the general large multi-rotor drone B is located at:

[0120] 120.06915843666553, 30.29872901134992, 210

[0121] The corresponding flight restriction codes to be compared are wtmkk5xve12 and wtmkk5xve21, and by comparing them one by one with the flight restriction codes in the library, it can be determined whether the general large multi-rotor drone A or B has triggered a safety warning for entering the flight restriction area. In the Zhejiang University case provided in this application, the general large multi-rotor drone A triggered a safety warning, and the general large multi-rotor drone B did not trigger a safety warning.

[0122] In this embodiment, in S3, the real-time position of the drone can be determined by a positioning signal on the drone.

[0123] The drone provided in this application is an unmanned aerial vehicle in the prior art, which can be a fixed-wing or a rotary-wing, and there is no special limitation on the specific model or style.

[0124] After receiving the real-time flight position of the drone, the management system or external equipment needs to identify in real time whether the drone has entered a restricted or prohibited flight area based on the drone's position. During flight, the drone can report its longitude and latitude once a second through broadcasting or the backend system of its operating company. The drone's normal cruising speed is 60km / h.

[0125] The drone may include a local memory. When the drone communicates with a management system or an external device via a wired or wireless connection, the location of the restricted or no-fly zones in the local memory may be updated. In some embodiments, when the drone communicates with a communication network, the location of the restricted or no-fly zones in the local memory is updated.

[0126] The drone may include a positioning module. The positioning module is used to determine the location data of the drone. The location data includes at least the model information of the drone and real-time latitude, longitude and altitude data. The position of the drone relative to a fixed reference system (such as geographic coordinates) can be determined, and then the position of the drone relative to a restricted flight area or a no-fly zone can be determined. The positioning module can determine the position of the drone using any technology in the art or any subsequent technology developed in the art. For example, the positioning module can receive a signal from an external positioning unit. In some embodiments, the positioning module can be a global positioning system (GPS) receiver, and the external positioning unit can be a GPS satellite. In other embodiments, the positioning module can be an inertial measurement unit (IMU), an ultrasonic sensor, a visual sensor (such as a camera), or a communication unit that communicates with an external positioning unit, and the external positioning unit can include a satellite, a tower, or other structure that can provide location information.

[0127] The management system or external device may be a mobile terminal that can receive data from the drone. The data may include real-time location data sent by the positioning module of the drone. The mobile terminal includes a display that can display the location data. In some embodiments, the mobile terminal may be a mobile phone or a PC. The mobile terminal can transmit safety warning data to the airspace management party and the drone operator. The mobile terminal can communicate with the drone through direct communication technology or indirect communication technology, such as a local area network (LAN) and a wide area network (WAN), such as the Internet, a cloud environment, a telecommunications network (such as 3G, 4G, 5G), WIFI, Bluetooth, radio frequency (RF), infrared (IR), etc.

[0128] In this embodiment, in S4, the management system triggers a safety warning and notifies the airspace management party and the drone operator. If the drone operator fails to perform evasive operations on the drone within the specified time requirement, the airspace management party will take countermeasures against the drone.

[0129] The focus of this application is to quickly identify whether a drone has entered a restricted or prohibited flight area, that is, it is a pre-step for early warning processing. If the identification is not timely or incorrect, it will directly affect the subsequent early warning processing. At present, mobile terminals in the form of management systems or external devices can automatically generate safety warnings and promptly notify the airspace management party and the drone operator. Generally, the drone operator is required to make drone avoidance operations within a few minutes, such as suspending flight or exiting the restricted / prohibited flight airspace by the original route. If the drone operator fails to take the prescribed measures within the time range required by the regulations, the airspace management party will take drone countermeasures, such as using drone countermeasures equipment to force the drone to land, or punishing the drone operator afterwards. At present, the handling measures and response methods of each airspace management party are different, so this application does not specifically limit the specific response method.

[0130] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the above-mentioned method for determining whether a drone enters a restricted flight zone or a no-fly zone.

[0131] See also Fig. 9 An embodiment of the present invention further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above-mentioned method for determining whether a drone enters a restricted flight zone or a prohibited flight zone.

[0132] An embodiment of the present invention further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the steps of the above-mentioned method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone.

[0133] It is understandable that the system, device and storage medium provided in the embodiments of the present invention correspond to the method provided in the embodiments of the present invention, and the explanation, examples and beneficial effects of the relevant contents can refer to the corresponding parts of the above-mentioned method for determining whether a drone enters a restricted flight zone or a no-fly zone.

[0134] It should be noted that those skilled in the art can understand that all or part of the steps implemented in the embodiments of the present invention can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using hardware, it can be implemented in whole or in part in the form of purchasing standard parts or modified parts. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0135] In summary, the present invention proposes a method for judging whether a drone enters a restricted flight zone or a no-fly zone for drone flight management in low-altitude airspace. According to the restricted flight zone or no-fly zone publicly designated by the airspace management party on the map interface, the corresponding restricted flight code and no-fly code are synchronously generated based on the geohash code and stored in the library. The management system converts the received real-time location information of the drone into a restricted flight code to be compared and a no-fly code to be compared. By quickly comparing the restricted flight code / no-fly code to be compared with the restricted flight code / no-fly code already in the library, it can be quickly judged whether the drone currently enters the restricted flight zone or the no-fly zone. In this way, the complex algorithm calculation is pre-placed to ensure the efficiency and speed of real-time calculation, avoid the phenomenon of recognition delay, and reduce the risk of safety hazards in low-altitude airspace.

[0136] It should be understood that the examples and implementation modes described herein are for illustrative purposes only and are not intended to limit the present invention. Those skilled in the art may make various modifications or changes based on the examples and implementation modes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone, characterized in that: The following steps are involved: S1. Query the restricted or prohibited flying areas of the target area on the map according to the airspace management rules; S2. For the restricted-fly area and the no-fly area in the target area, the geohash code of each area and its boundary points, the drone model code and the drone altitude code are obtained respectively, and the corresponding restricted-fly code and no-fly code are generated synchronously and stored in the database; S3, obtaining the latitude and longitude and altitude code of the real-time location of the drone and the model code of the drone, and generating a restricted-fly code and a prohibited-fly code to be compared; S4. Compare the restricted flight code to be compared with the restricted flight code, the prohibited flight code to be compared with the prohibited flight code. If the restricted flight code in the library contains the real-time restricted flight code to be compared, or the prohibited flight code in the library contains the real-time prohibited flight code to be compared, the UAV has currently entered the restricted flight area or the prohibited flight area, triggering a safety warning. Otherwise, if it does not exist, the UAV has not currently entered the restricted flight area or the prohibited flight area.

2. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 1, characterized in that: In S1, the restricted flight area or the no-fly area on the map is independently demarcated by the airspace management party according to the demarcation standards and is made public.

3. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 1, characterized in that: The S2 further comprises: S21, generating a no-fly code, comprising the following steps: S211, determining the no-fly zone defined in the target area on the system map interface; S212, obtaining the longitude and latitude values ​​of the boundary points of the no-fly zone, and converting the longitude and latitude values ​​of the boundary points into geohash codes, and obtaining the same prefix for all geohash codes; S213, starting to expand based on the same prefix string to obtain 32 strings of the next level geohash grid code; S214, parsing the expanded character string to obtain the longitude and latitude values ​​of four points in the grid to form a small area; S215, determining the geometric relationship between the small area and the no-fly zone to obtain a geometric relationship between the area inside, outside, or intersecting the area; S216, if the geometric relationship is within the area, then according to the current string length, the geohash code is automatically expanded to X bits by level, incorporated into the no-fly code determined library, and the corresponding geohash code is stored; S217, if the geometric relationship is outside the region, there is no need to perform further processing on the current string, and there is no need to store the current string; S217, if the geometric relationship is area intersection, determine whether the current string length is X bits, if so, enter the no-fly code determination library and store the corresponding geohash code, if not, repeat S213 until the current string length reaches X bits.

4. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 3, characterized in that: In the S2 or S212, the calibration of the area boundary points is that after the S1, the airspace management party shall make the restricted flight area or the no-fly area public and mark multiple boundary points on the map interface.

5. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 3, characterized in that: In S212, the rule for obtaining the common prefix is ​​to take the same prefix of the geohash codes corresponding to all boundary points, and the common part represents a spatial grid.

6. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 3, characterized in that: In S2 or S216, the library refers to a system relational database and a cache database, which is used to specifically store geohash codes corresponding to restricted flight areas or no-fly areas.

7. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 3, characterized in that: The S2 further comprises: S22, generation of a flight restriction code, includes S21, and further includes the following steps: S221, obtain a 1-digit model code; S222, obtaining a 2-digit height code; S223, restricted flight code = X-digit geohash code + 1-digit aircraft model code + 2-digit altitude code.

8. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 1, characterized in that: In S3, the real-time position of the drone can be determined by the positioning signal on the drone.

9. The method for determining whether a drone enters a restricted-fly zone or a prohibited-fly zone as claimed in claim 1, characterized in that: In S4, the management system triggers a safety warning and notifies the airspace management party and the drone operator. If the drone operator fails to perform evasive operations on the drone within the specified time requirement, the airspace management party will take countermeasures against the drone.

10. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method according to any one of claims 1 to 9.

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